controllers/participant/participant.java
// Copyright 1996-2023 Cyberbotics Ltd.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/*
 * Description:  Minimalist Java controller example for the Robot Wrestling Tournament.
 *               Demonstrates how to play a simple motion file.
 */

import com.cyberbotics.webots.controller.Robot;
import com.cyberbotics.webots.controller.Motion;

public class participant {
  public static void main(String[] args) {
    // Robot initialization
    Robot robot = new Robot();

    // Motion files are text files containing pre-recorded positions of the robot's joints
    Motion handWave = new Motion("../motions/HandWave.motion");
    // We play the hand-waving motion on loop
    handWave.setLoop(true);
    handWave.play();

    int timeStep = (int) Math.round(robot.getBasicTimeStep());
    // Mandatory function to make the simulation run
    while (robot.step(timeStep) != -1);
  }
}
